CN106872084B - Single-wheel self-aligning torque measuring device and method when a kind of running car - Google Patents
Single-wheel self-aligning torque measuring device and method when a kind of running car Download PDFInfo
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- CN106872084B CN106872084B CN201710081371.0A CN201710081371A CN106872084B CN 106872084 B CN106872084 B CN 106872084B CN 201710081371 A CN201710081371 A CN 201710081371A CN 106872084 B CN106872084 B CN 106872084B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
Abstract
The present invention relates to the measuring devices and method of single-wheel self-aligning torque when a kind of running car, the following steps are included: 1) measuring device is arranged on vehicle to be detected, including GPS device, two foil gauges, gyroscope, rotary angle transmitter, CAN signal Acquisition Instrument, signal adapter and terminal；2) two foil gauges acquire the voltage signal that strain variation generates on Vehicular turn drag link to be detected in real time；3) two GPS movement stations acquire the position signal of vehicle to be detected in real time；4) gyroscope acquires the side acceleration and yaw rate signal of vehicle to be detected in real time；5) rotary angle transmitter acquires the steering wheel angle signal of vehicle to be detected in real time；6) CAN signal Acquisition Instrument is sent to terminal after handling all data received；7) single-wheel self-aligning torque when terminal is calculated vehicle driving to be detected.The present invention can be widely applied to when running car in the measurement of single-wheel self-aligning torque.
Description
Technical field
The invention belongs to the Parameter identification fields in Vehicle Engineering, and in particular to single-wheel is returned certainly when a kind of running car
Positive moment measuring device and method.
Background technique
Tyre aligning torque is an important system parameter in Vehicular turn, and the order of accuarcy of identification turns vehicle
It is of great significance to return performance and vehicle system parameter estimation.Tyre aligning torque can generally carry out on testing stand
Measurement, but this method can only obtain the aligning torque of tire with the relationship of slip angle of tire, cannot obtain vehicle row in real time
Tire turns to self-aligning torque when sailing.Under vehicle running state, there are two types of sides at present for the acquisition of vehicle single-wheel self-aligning torque
Method: one is direct measurements to obtain, and one is be calculated by tire formula.The former is usually using equipped with torque sensor
Line traffic control vehicle either install expensive tire six square phase instrument additional and directly measure and obtain, although this method precision is higher,
It is that required cost is higher, is not suitable for common engineering actual measurement.Although cost is relatively low by the latter, tire formula is adhered to by road surface
Influence, but road surface attachment can not real-time measurement obtain, can only estimate acquisition, this just influences the precision and accuracy of tire formula,
Cause calculated value and actual value deviation larger.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide single-wheel self-aligning torque measuring device when a kind of running car and
Method, measuring device structure is simple, and measurement accuracy is high, can be simple and efficient when vehicle driving is calculated single-wheel from returning just
Torque.
To achieve the above object, the present invention takes following technical scheme: single-wheel self-aligning torque is surveyed when a kind of running car
Measure device, it is characterised in that: it includes GPS device, two foil gauges, gyroscope, rotary angle transmitter, CAN signal Acquisition Instrument, signal
Converter and terminal；The GPS device includes GPS Base Station and two GPS movement stations；The CAN signal Acquisition Instrument point
It is not connected with two foil gauge, gyroscope, rotary angle transmitter and signal adapter, the signal adapter and two GPS
Movement station is connected；The two GPS movement stations acquire the position signal of vehicle to be detected in real time and convert through the signal adapter
For CAN signal；Two foil gauges acquire the voltage that strain variation generates on track rod in real time；The gyroscope is adopted in real time
Collect the side acceleration and yaw rate signal of vehicle to be detected；The rotary angle transmitter acquires turning for vehicle to be detected in real time
To disk angle data；After the CAN signal Acquisition Instrument handles all data, it is sent to the terminal；It is described
Terminal is calculated according to all data, obtains single-wheel self-aligning torque when vehicle driving to be detected.
Two GPS movement stations settings in vehicle interior to be detected, and before and after the mobile station antennas of two GPS setting to
On the central axes for detecting outside vehicle；The GPS Base Station is arranged in outside vehicle to be detected, and in the two GPS movement stations
In signal range of receiving.
Two foil gauges are symmetricly set on the track rod of vehicle to be detected；The gyroscope is arranged to be detected
At vehicle centroid；The rotary angle transmitter is onboard sensor, is arranged on the steering column of vehicle to be detected；The CAN letter
Number Acquisition Instrument is arranged in vehicle interior to be detected.
The CAN signal Acquisition Instrument uses Kvaser CAN card.
Single-wheel self-aligning torque measurement method when a kind of running car based on described device, it is characterised in that including following
Step: 1) the single-wheel self-aligning torque measuring device when the running car is arranged on vehicle to be detected comprising GPS device,
Two foil gauges, gyroscope, rotary angle transmitter, CAN signal Acquisition Instrument, signal adapter and terminal；Wherein GPS device
Including GPS Base Station and two GPS movement stations；2) two foil gauges acquire strain variation on Vehicular turn drag link to be detected in real time and generate
Voltage, and be sent to CAN signal Acquisition Instrument；3) it is arranged and GPS Base Station and opens GPS movement station, feeds them into difference modes, two
GPS movement station acquires the position signal of vehicle to be detected and in real time after signal adapter switchs to CAN signal, is sent to CAN letter
Number Acquisition Instrument；4) gyroscope acquires the side acceleration and yaw rate signal of vehicle to be detected in real time, and is sent to CAN letter
Number Acquisition Instrument；5) rotary angle transmitter acquires the steering wheel angle signal of vehicle to be detected in real time, and is sent to CAN signal acquisition
Instrument；6) after CAN signal Acquisition Instrument turns USB processing to all data progress CAN received, it is sent to terminal；7) it counts
Single-wheel self-aligning torque when vehicle driving to be detected is calculated according to all data received in calculation machine terminal.
In the step 7), the calculation method of single-wheel self-aligning torque when vehicle driving to be detected are as follows: 1. according to strain
The elasticity modulus of strain variation generates on the track rod that piece measurement obtains voltage and track rod material, calculates
To the near front wheel steering moment；2. the vehicle centroid to be detected acquired in real time according to two GPS movement stations, rotary angle transmitter and gyroscope
Side drift angle, steering wheel angle, side acceleration and yaw velocity data are calculated caused by left front wheel mechanical drag and return just
Torque；3. the gravity aligning torque of the near front wheel is calculated in the steering wheel angle data obtained according to rotary angle transmitter measurement；④
According to aligning torque and gravity aligning torque caused by the near front wheel steering moment, mechanical drag, it is calculated left when running car
The self-aligning torque of front-wheel.
The step 1. in, the calculation formula of the near front wheel steering moment are as follows:
Mtfl=Ftrflcosθrtrflrp,
Wherein, MtflFor the near front wheel steering moment, FtrflFor track rod upper pulling force, rpTo turn to pinion gear radius,
θrtrflFor track rod and steering rack angle.
The step 2. in, the calculation formula of aligning torque caused by left front wheel mechanical drag are as follows:
Wherein, MzmflFor aligning torque caused by revolver machinery drag, MzmfTo return positive force caused by two front wheels machinery drag
The sum of square, k are two lateral force ratios.
The step 3. in, the calculation formula of the gravity aligning torque of the near front wheel are as follows:
Mzzfl=FzflnσCos τ sin σ cos σ sin δ,
Wherein, FzflFor the near front wheel vertical force, nσFor wheel center king pin offset, σ is kingpin inclination, and τ is after stub
Inclination angle；δ is tire corner.
The step 4. in, the calculation formula of the near front wheel self-aligning torque are as follows:
Mzpfl=Mtfl-Mzmfl-Mzzfl。
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention is due to being provided with GPS movement station
And gyroscope, the side slip angle of vehicle, side acceleration and yaw velocity are measured, and then obtain returning just for single-wheel
Torque eliminates road surface attachment and estimates that inaccurate bring influences, reduces calculating error.2, the present invention using GPS due to being filled
Set, gyroscope and foil gauge combine method survey calculation obtain single-wheel self-aligning torque, compared to existing tire six square phase
Instrument has been greatly reduced measurement cost while ensure that its accuracy.3, measuring device of the present invention can be used in general vehicle
, such as single-wheel self-aligning torque of mechanical, hydraulic and electric booster vehicle and steering-by-wire vehicle measurement, with centainly pervasive
Meaning.Thus the present invention can be widely applied to when running car in the measurement of single-wheel self-aligning torque.
Detailed description of the invention
Single-wheel self-aligning torque measuring device arrangement schematic diagram when Fig. 1 is running car of the present invention；
Fig. 2 is the mobile station antenna arrangement schematic diagram of the outer GPS of vehicle of the present invention；
Fig. 3 is track rod tension and compression experiment schematic diagram of the present invention.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1 and Figure 2, single-wheel self-aligning torque measuring device includes: GPS device 1, two when running car of the present invention
Foil gauge 2, gyroscope 3, rotary angle transmitter 4, CAN signal Acquisition Instrument 5, signal adapter 6 and terminal 7.
Wherein, GPS device 1 includes GPS Base Station (not shown) and two GPS movement stations 11, the setting of two GPS movement stations 11
It is arranged on the central axes of outside vehicle to be detected before and after vehicle interior to be detected, the mobile station antenna 12 of two GPS；GPS Base Station
It is arranged in outside vehicle to be detected, and in the signal range of receiving of two GPS movement stations 11.Two foil gauges 2 be symmetricly set on to
On the track rod 8 for detecting vehicle；Gyroscope 3 is arranged at vehicle centroid to be detected；Rotary angle transmitter 4 is vehicle-mounted sensing
Device is arranged on the steering column of vehicle to be detected；CAN signal Acquisition Instrument 5 is arranged in vehicle interior to be detected.Two GPS are mobile
It stands and 11 acquires the position signal of vehicle to be detected in real time and after signal adapter 6 is converted to CAN signal, be sent to CAN signal
Acquisition Instrument 5.Two foil gauges 2 acquire the voltage that strain variation generates on Vehicular turn drag link to be detected in real time, and pass through signal
Line is sent to CAN signal Acquisition Instrument 5.Gyroscope 3 acquires the side acceleration and yaw rate signal of vehicle to be detected in real time,
And CAN signal Acquisition Instrument 5 is sent to by signal wire.Rotary angle transmitter 4 acquires the steering wheel angle number of vehicle to be detected in real time
According to, and CAN signal acquisition 5 is sent to by signal wire.CAN signal Acquisition Instrument 5 converts all CAN data received to
After usb data, terminal 7 is sent for all data by signal wire, terminal 7 is counted according to all data
It calculates, obtains single-wheel self-aligning torque when vehicle driving to be detected.
In above-described embodiment, CAN signal Acquisition Instrument 5 uses Kvaser CAN card.
Single-wheel self-aligning torque measuring device when based on above-mentioned running car, the present invention also provides single when a kind of running car
Take turns self-aligning torque measurement method, comprising the following steps:
1) the single-wheel self-aligning torque measuring device when installing running car of the present invention on vehicle to be detected.
2) two foil gauges 2 acquire the voltage that strain variation generates on Vehicular turn drag link 8 to be detected in real time, and are sent to
CAN signal Acquisition Instrument.
3) GPS Base Station is set and opens GPS movement station 11, feeds them into difference modes, two acquisitions in real time of GPS movement station 11
The position signal of vehicle to be detected and after signal adapter 6 switchs to CAN signal, is sent to CAN signal Acquisition Instrument 5.
4) gyroscope 3 acquires the side acceleration and yaw rate signal of vehicle to be detected in real time, and is sent to CAN letter
Number Acquisition Instrument 5.
5) rotary angle transmitter 4 acquires the steering wheel angle signal of vehicle to be detected in real time, and is sent to CAN signal Acquisition Instrument
5。
6) after CAN signal Acquisition Instrument 5 turns USB processing to all data progress CAN received, it is sent to terminal
7。
7) terminal 7 according to all data received, return certainly by single-wheel when vehicle driving to be detected is calculated
Positive moment.
The present invention is introduced by taking the calculating of the self-aligning torque of the near front wheel of vehicle to be detected as an example, specifically include with
Lower step:
1. strain variation generates on the track rod obtained according to the measurement of two foil gauges 2 voltage and track rod
The near front wheel steering moment M is calculated in the elasticity modulus of materialtfl。
The near front wheel steering moment MtflIt is measured and is converted to by two foil gauges 2 being pasted on track rod 8.If answering
Become piece 2 and measures voltage as Ufl, steering pinion gear radius is rp, track rod 8 and steering rack angle are θrtrfl, then cross is turned to
Pull rod upper pulling force FtrflAre as follows:
Ftrfl=ε UflEA (1)
Wherein, ε is that foil gauge strains and voltage ratio, E are track rod elasticity modulus of materials, and A is track rod
Paste sectional area at foil gauge.
Then the near front wheel acts on the steering moment on steering rack are as follows:
Mtfl=Ftrflcosθrtrflrp (2)
As shown in figure 3, the elasticity modulus of track rod material is prepared by the following: choosing and vehicle to be detected is same
The track rod 8 of model selectes the paste position of foil gauge on track rod 8, and the selection of paste position is to be easy to viscous
Patch is principle, measures the diameter at paste position, obtains its cross-sectional area.Track rod 8 is installed on tension and compression experiment machine 9
Tension and compression experiment is carried out, measures multi-group data, and the elasticity modulus of track rod material is obtained according to experimental data.(to steering
Drag link carries out extrusion experiment, and obtaining its elasticity modulus is prior art, and the present invention repeats no more)
2. the vehicle centroid lateral deviation to be detected acquired in real time according to two GPS movement stations 11, gyroscope 3 and rotary angle transmitter 4
Aligning torque caused by left front wheel mechanical drag is calculated in angle, steering wheel angle, side acceleration and yaw velocity data
Mzmfl。
The sum of aligning torque caused by two front wheels machinery drag are as follows:
Wherein, a, b be respectively distance of the mass center to antero posterior axis, IzFor vehicle rotary inertia, m is complete vehicle quality, ayFor vehicle
Side acceleration, rdynFor tire rolling radius, nτFor wheel center stub drag.It, can be by for sideway angular acceleration
Differential obtains after the yaw velocity filtering that gyroscope 3 measures.Fyfl、FyfrRespectively left and right front-wheel lateral force can indicate
Are as follows:
Wherein, μ is coefficient of road adhesion, fmg(α,Fz) it is magic tire formula.Two lateral force ratio ks are as follows:
Wherein, α is slip angle of tire, FzFor vertical force of tire.The two can respectively indicate are as follows:
Wherein, BfFor front tread, L is distance of the front axle to rear axle, hgFor vehicle centroid height, β is vehicle centroid lateral deviation
Angle is analyzed to obtain by the vehicle location signal that two GPS movement stations acquire.δ is tire corner, and size is equal to steering wheel angle
With the ratio of rotary driving ratio, wherein steering wheel angle can be measured by rotary angle transmitter 4 and be obtained, and rotary driving is more fixed than generally
Value.
Then aligning torque M caused by automobile revolver machinery dragzmflAre as follows:
3. measuring obtained steering wheel angle data according to rotary angle transmitter 4, the gravity that the near front wheel is calculated returns positive force
Square Mzzfl。
Gravity aligning torque MzzflIt is related that angle δ is only turned to tire, can be indicated are as follows:
Mzzfl=Fzflnσcosτsinσcosσsinδ (9)
Wherein, FzflFor the near front wheel vertical force, nσFor wheel center king pin offset, σ is kingpin inclination, and τ is after stub
Inclination angle.
4. according to the near front wheel steering moment Mtfl, aligning torque M caused by mechanical dragzmflWith gravity aligning torque Mzzfl,
The self-aligning torque M of the near front wheel when running car can be obtainedzpfl。
The calculation formula of the near front wheel self-aligning torque are as follows:
Mzpfl=Mtfl-Mzmfl-Mzzfl (10)
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (10)
1. single-wheel self-aligning torque measuring device when a kind of running car, it is characterised in that: it include GPS device, two foil gauges,
Gyroscope, rotary angle transmitter, CAN signal Acquisition Instrument, signal adapter and terminal；The GPS device includes GPS base
It stands and two GPS movement stations；
The CAN signal Acquisition Instrument is connected with two foil gauge, gyroscope, rotary angle transmitter and signal adapter respectively, institute
Signal adapter is stated to be connected with the two GPS movement station；The two GPS movement stations acquire the position signal of vehicle to be detected in real time
And CAN signal is converted to through the signal adapter；Two foil gauges acquire strain variation on track rod in real time and generate
Voltage；The gyroscope acquires the side acceleration and yaw rate signal of vehicle to be detected in real time；The rotation angular sensing
Device acquires the steering wheel angle data of vehicle to be detected in real time；After the CAN signal Acquisition Instrument handles all data, hair
It is sent to the terminal；The terminal is calculated according to all data, when obtaining vehicle driving to be detected
Single-wheel self-aligning torque.
2. single-wheel self-aligning torque measuring device when a kind of running car as described in claim 1, it is characterised in that: described in two
Outside vehicle to be detected is arranged in vehicle interior to be detected, and before and after the mobile station antenna of two GPS in the setting of GPS movement station
On central axes；The GPS Base Station is arranged in outside vehicle to be detected, and in the signal range of receiving of the two GPS movement stations.
3. single-wheel self-aligning torque measuring device when a kind of running car as described in claim 1, it is characterised in that: described in two
Foil gauge is symmetricly set on the track rod of vehicle to be detected；The gyroscope is arranged at vehicle centroid to be detected；Institute
Stating rotary angle transmitter is onboard sensor, is arranged on the steering column of vehicle to be detected；The CAN signal Acquisition Instrument setting exists
Vehicle interior to be detected.
4. single-wheel self-aligning torque measuring device when a kind of running car as described in claim 1, it is characterised in that: described
CAN signal Acquisition Instrument uses Kvaser CAN card.
5. single-wheel self-aligning torque measurement method when a kind of running car based on any one of such as Claims 1 to 4 described device,
Characterized by the following steps:
1) the single-wheel self-aligning torque measuring device when the running car is arranged on vehicle to be detected comprising GPS device, two
Foil gauge, gyroscope, rotary angle transmitter, CAN signal Acquisition Instrument, signal adapter and terminal；Wherein GPS device packet
Include GPS Base Station and two GPS movement stations；
2) two foil gauges acquire the voltage that strain variation generates on Vehicular turn drag link to be detected in real time, and are sent to CAN letter
Number Acquisition Instrument；
3) GPS Base Station is set and opens GPS movement station, feeds them into difference modes, two GPS movement stations acquire measuring car to be checked in real time
Position signal and after signal adapter switchs to CAN signal, be sent to CAN signal Acquisition Instrument；
4) gyroscope acquires the side acceleration and yaw rate signal of vehicle to be detected in real time, and is sent to CAN signal and adopts
Collect instrument；
5) rotary angle transmitter acquires the steering wheel angle signal of vehicle to be detected in real time, and is sent to CAN signal Acquisition Instrument；
6) after CAN signal Acquisition Instrument turns USB processing to all data progress CAN received, it is sent to terminal；
7) for terminal according to all data received, positive force is returned in single-wheel when vehicle driving to be detected is calculated certainly
Square.
6. single-wheel self-aligning torque measurement method when a kind of running car as claimed in claim 5, it is characterised in that: the step
It is rapid 7) in, the calculation method of single-wheel self-aligning torque when vehicle driving to be detected are as follows:
1. the voltage and track rod material of strain variation generation on the track rod obtained according to foil gauge measurement
The near front wheel steering moment is calculated in elasticity modulus；
2. the vehicle centroid side drift angle to be detected, the steering wheel that are acquired in real time according to two GPS movement stations, rotary angle transmitter and gyroscope
Aligning torque caused by left front wheel mechanical drag is calculated, wherein matter in corner, side acceleration and yaw velocity data
The position signal for the vehicle to be detected that heart side drift angle acquires in real time according to two GPS movement stations is calculated；
3. the gravity aligning torque of the near front wheel is calculated in the steering wheel angle data obtained according to rotary angle transmitter measurement；
4. garage is calculated according to aligning torque and gravity aligning torque caused by the near front wheel steering moment, mechanical drag
The self-aligning torque of the near front wheel when sailing.
7. single-wheel self-aligning torque measurement method when a kind of running car as claimed in claim 6, it is characterised in that: the step
Suddenly 1. in, the calculation formula of the near front wheel steering moment are as follows:
Mtfl=Ftrflcosθrtrflrp,
Wherein, MtflFor the near front wheel steering moment, FtrflFor track rod upper pulling force, rpTo turn to pinion gear radius, θrtrflFor
Track rod and steering rack angle.
8. single-wheel self-aligning torque measurement method when a kind of running car as claimed in claim 6, it is characterised in that: the step
Suddenly 2. in, the calculation formula of aligning torque caused by left front wheel mechanical drag are as follows:
Wherein, MzmflFor aligning torque caused by revolver machinery drag, MzmfFor aligning torque caused by two front wheels machinery drag it
It is two lateral force ratios with, k.
9. single-wheel self-aligning torque measurement method when a kind of running car as claimed in claim 6, it is characterised in that: the step
Suddenly 3. in, the calculation formula of the gravity aligning torque of the near front wheel are as follows:
Mzzfl=FzflnσCos τ sin σ cos σ sin δ,
Wherein, FzflFor the near front wheel vertical force, nσFor wheel center king pin offset, σ is kingpin inclination, and τ is castor；
δ is tire corner.
10. single-wheel self-aligning torque measurement method when a kind of running car as claimed in claim 6, it is characterised in that: described
Step 4. in, the calculation formula of the near front wheel self-aligning torque are as follows:
Mzpfl=Mtfl-Mzmfl-Mzzfl。
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| CN201710081371.0A CN106872084B (en) | 2017-02-15 | 2017-02-15 | Single-wheel self-aligning torque measuring device and method when a kind of running car |
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